clear;clc,close all;

L10=Link('d',0,'a',0,'alpha',pi, 'offset', 0); 
L11=Link('d',-0.102,'a',0,'alpha',pi/2, 'offset', 0); 
L12=Link('d',0,'a',0.28,'alpha',pi, 'offset', -pi/2);
L13=Link('d',0,'a',-0.07523,'alpha',pi/2, 'offset', -pi/2);
L14=Link('d',-0.287,'a',0,'alpha',-pi/2, 'offset', -pi/2);
L15=Link('d',0,'a',0,'alpha',pi/2, 'offset', 0);
L16=Link('d',-0.256,'a',0,'alpha',0, 'offset', 0);
robot=SerialLink([L10 L11 L12 L13 L14 L15 L16],'name','AR10');
q0 = [0 0 0 0 0 0 0];
robot.plot(q0,'noshadow','notiles','nobase','jointdiam',1,'jvec')

q1 = [0 pi/3 pi/6 -pi/6 -pi/3 -pi/3 pi/2];
robot.fkine(q1)
robot.teach(q1, 'rpy/zyx')

